If you shoot weddings and are often below 1/focal length then the answer is yes. If you shoot unpredictable sports, then probably yes. If you are shooting more predictable sports or other slower target then no.
It also depends on what body you are using. On a D## body (D70, D80,...), yes. On a D200/D300, probably but I shot both 80-200 AF-D and 70-200 AF-S on a D200 and there was a difference but most of the time it was hard to tell. On D2/D3 bodies I think you’d be hard pressed to notice in every day use.